package edu.mapi.ir.controllers;

import edu.mapi.ir.state.EstimatedState;

/**
 * This controller inverts the motors in the way that makes the robot stop. It uses the current movement estimation for that.
 * @author ZP
 */
public class StopController extends AbstractController {

	// To make the robot stop, apply the symetric forces of current movement to both motors
	public Actuation decide(Actuation lastActuation, EstimatedState state) {
		setComplete(true);
		return new Actuation(-state.getLOutPow(), -state.getROutPow());		
    }	
}
